Research on Wavelet Singularity Detection Based Fault-Tolerant Federated Filtering Algorithm for INS/GPS/DVL Integrated Navigation System

<table>Slope error detection based on Gaussian wavelet transform.</table>

Journal of Applied Mathematics

Figure 4: Research on Wavelet Singularity Detection Based Fault-Tolerant Federated Filtering Algorithm for INS/GPS/DVL Integrated Navigation System 